version: 66.09
glider: 167
mission: 8
dive: 122
start: 7 8 111 9 10 36
data:
$ID,167
$MISSION,8
$DIVE,122
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,400
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56540.375
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,78
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.233358
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,080711,090036,1755.908,12418.166,37,1.0,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-66.9
$GPS2,080711,091014,1755.788,12418.255,14,1.7,14,-2.0
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,276.6,224007,-15.4,-8.250
$D_GRID,5000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,109,0.00,0.00,-87.68,0.000,2,0.000,0.000,109,1884,3263,0,0,0,0,0,0
$GC,112,-0.56,-146.0,6.8,-12.8,12,137,9.88,2.10,-2.67,0.000,4,0.230,0.037,2617,451,3439,0,0,0,0,0,0
$GC,239,-0.56,-146.0,60.6,-30.6,34,248,0.00,2.08,0.00,0.000,6,0.000,0.021,2608,1859,3440,0,0,0,0,0,0
$GC,313,-0.56,-146.0,78.1,-22.3,47,320,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1859,3440,0,0,0,0,0,0
$GC,391,-0.56,-146.0,94.3,-19.4,60,399,0.00,2.10,0.00,0.000,4,0.000,0.030,2598,3272,3440,0,0,0,0,0,0
$GC,440,-0.56,-146.0,104.9,-21.7,68,448,0.00,2.15,0.00,0.000,6,0.000,0.017,2598,1773,3440,0,0,0,0,0,0
$GC,514,-0.56,-146.0,120.0,-21.9,81,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1771,3440,0,0,0,0,0,0
$GC,591,-0.56,-146.0,134.8,-18.9,94,600,0.00,1.88,0.00,0.000,4,0.000,0.028,2598,487,3440,0,0,0,0,0,0
$GC,629,-0.56,-146.0,141.9,-17.5,100,636,0.00,1.88,0.00,0.000,6,0.000,0.019,2589,1795,3440,0,0,0,0,0,0
$GC,704,-0.56,-146.0,154.4,-16.4,113,712,0.00,2.20,0.00,0.000,4,0.000,0.030,2579,3280,3441,0,0,0,0,0,0
$GC,750,-0.56,-146.0,161.4,-15.0,120,760,0.10,2.05,0.00,0.000,6,0.143,0.018,2612,1827,3441,0,0,0,0,0,0
$GC,830,-0.56,-146.0,173.0,-13.4,133,839,0.00,1.92,0.00,0.000,4,0.000,0.028,2611,506,3441,0,0,0,0,0,0
$GC,853,-0.56,-146.0,176.1,-13.6,136,861,0.00,2.08,0.00,0.000,6,0.000,0.019,2604,1950,3441,0,0,0,0,0,0
$GC,930,-0.56,-146.0,187.0,-15.2,149,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1950,3441,0,0,0,0,0,0
$GC,1005,-0.56,-146.0,198.0,-14.3,162,1015,0.00,1.95,0.00,0.000,4,0.000,0.031,2600,3268,3441,0,0,0,0,0,0
$GC,1044,-0.56,-146.0,203.7,-14.0,166,1048,0.00,1.85,0.00,0.000,6,0.000,0.017,2600,1930,3441,0,0,0,0,0,0
$GC,1376,-0.56,-146.0,245.4,-10.8,197,1380,0.00,2.05,0.00,0.000,4,0.000,0.028,2600,513,3441,0,0,0,0,0,0
$GC,1436,-0.56,-146.0,253.6,-13.1,202,1445,0.00,2.08,0.00,0.000,6,0.000,0.021,2593,1940,3441,0,0,0,0,0,0
$GC,1764,-0.56,-146.0,290.0,-10.7,233,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1941,3440,0,0,0,0,0,0
$GC,2091,-0.56,-146.0,328.9,-11.7,264,2095,0.00,1.95,0.00,0.000,4,0.000,0.032,2588,3277,3438,0,0,0,0,0,0
$GC,2126,-0.56,-146.0,333.4,-12.3,267,2130,0.00,1.92,0.00,0.000,6,0.000,0.018,2588,1897,3438,0,0,0,0,0,0
$GC,2457,-0.56,-146.0,370.7,-10.9,298,2462,0.10,2.05,0.00,0.000,4,0.173,0.031,2612,3278,3436,0,0,0,0,0,0
$GC,2496,-0.56,-146.0,374.4,-9.5,301,2500,0.00,1.88,0.00,0.000,6,0.000,0.018,2612,1923,3436,0,0,0,0,0,0
$GC,2828,-0.56,-146.0,400.6,-7.6,332,2831,0.00,2.03,0.00,0.000,4,0.000,0.028,2612,517,3434,0,0,0,0,0,0
$GC,2852,-0.56,-146.0,402.4,-7.8,334,2856,0.00,1.98,0.00,0.000,6,0.000,0.019,2606,1911,3434,0,0,0,0,0,0
$GC,3183,-0.56,-146.0,430.1,-9.0,365,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1911,3432,0,0,0,0,0,0
$GC,3504,-0.56,-146.0,458.3,-8.1,395,3509,0.00,2.00,0.00,0.000,4,0.000,0.033,2601,3263,3430,0,0,0,0,0,0
$GC,3561,-0.56,-146.0,463.2,-8.4,400,3565,0.00,1.92,0.00,0.000,6,0.000,0.018,2601,1888,3429,0,0,0,0,0,0
$GC,3893,-0.56,-146.0,490.6,-8.0,431,3897,0.00,2.00,0.00,0.000,4,0.000,0.031,2600,508,3426,0,0,0,0,0,0
$GC,3943,-0.56,-146.0,495.1,-8.8,435,3950,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1884,3426,0,0,0,0,0,0
$GC,4262,-0.56,-146.0,519.8,-7.8,454,4265,0.00,2.03,0.00,0.000,4,0.000,0.029,2600,497,3423,0,0,0,0,0,0
$GC,4310,-0.56,-146.0,523.6,-8.1,456,4313,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1907,3424,0,0,0,0,0,0
$GC,4643,-0.56,-146.0,546.2,-6.7,472,4647,0.00,2.00,0.00,0.000,4,0.000,0.034,2600,3268,3421,0,0,0,0,0,0
$GC,4729,-0.56,-146.0,552.1,-7.0,475,4735,0.00,1.90,0.00,0.000,6,0.000,0.019,2600,1909,3421,0,0,0,0,0,0
$GC,5047,-0.56,-146.0,575.9,-7.8,491,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1908,3418,0,0,0,0,0,0
$GC,5354,-0.56,-146.0,601.2,-8.4,506,5357,0.00,2.03,0.00,0.000,4,0.000,0.031,2600,519,3416,0,0,0,0,0,0
$GC,5408,-0.56,-146.0,606.2,-8.9,508,5412,0.00,2.03,0.00,0.000,6,0.000,0.022,2600,1938,3416,0,0,0,0,0,0
$GC,5733,-0.56,-146.0,631.6,-7.9,524,5736,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3272,3413,0,0,0,0,0,0
$GC,5771,-0.56,-146.0,634.9,-7.6,525,5778,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1941,3414,0,0,0,0,0,0
$GC,6089,-0.56,-146.0,657.2,-6.5,541,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1940,3411,0,0,0,0,0,0
$GC,6397,-0.56,-146.0,675.8,-5.8,556,6401,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,506,3409,0,0,0,0,0,0
$GC,6538,-0.56,-146.0,685.8,-7.2,562,6543,0.00,2.15,0.00,0.000,6,0.000,0.022,2600,1967,3409,0,0,0,0,0,0
$GC,6860,-0.56,-146.0,705.4,-6.1,578,6864,0.00,2.15,0.00,0.000,4,0.000,0.031,2600,509,3407,0,0,0,0,0,0
$GC,6893,-0.56,-146.0,707.8,-6.1,579,6900,0.00,2.10,0.00,0.000,6,0.000,0.022,2600,1958,3406,0,0,0,0,0,0
$GC,7212,-0.56,-146.0,728.3,-6.8,595,7215,0.00,1.95,0.00,0.000,4,0.000,0.037,2600,3270,3404,0,0,0,0,0,0
$GC,7258,-0.56,-146.0,731.6,-6.7,597,7262,0.00,1.83,0.00,0.000,6,0.000,0.020,2600,1973,3404,0,0,0,0,0,0
$GC,7593,-0.56,-146.0,754.2,-7.0,613,7597,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,517,3403,0,0,0,0,0,0
$GC,7678,-0.56,-146.0,761.3,-8.4,617,7682,0.00,2.08,0.00,0.000,6,0.000,0.022,2600,1947,3403,0,0,0,0,0,0
$GC,8011,-0.56,-146.0,786.3,-7.4,633,8016,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3261,3402,0,0,0,0,0,0
$GC,8106,-0.56,-146.0,792.9,-6.9,637,8111,0.00,1.80,0.00,0.000,6,0.000,0.021,2600,1997,3401,0,0,0,0,0,0
$GC,8433,-0.56,-146.0,812.7,-5.7,653,8437,0.00,2.17,0.00,0.000,4,0.000,0.030,2600,511,3399,0,0,0,0,0,0
$GC,8484,-0.56,-146.0,816.0,-5.9,655,8488,0.00,2.15,0.00,0.000,6,0.000,0.022,2600,1985,3399,0,0,0,0,0,0
$GC,8806,-0.56,-146.0,833.5,-5.4,671,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1985,3398,0,0,0,0,0,0
$GC,9115,-0.56,-146.0,851.5,-6.1,686,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1985,3397,0,0,0,0,0,0
$GC,9426,-0.56,-146.0,871.1,-6.6,701,9430,0.00,1.92,0.00,0.000,4,0.000,0.039,2600,3258,3396,0,0,0,0,0,0
$GC,9472,-0.56,-146.0,874.3,-6.7,703,9477,0.00,1.80,0.00,0.000,6,0.000,0.021,2600,1995,3396,0,0,0,0,0,0
$GC,9807,-0.56,-146.0,898.7,-7.4,719,9810,0.00,2.17,0.00,0.000,4,0.000,0.031,2601,513,3394,0,0,0,0,0,0
$GC,9834,-0.56,-146.0,901.3,-7.5,720,9838,0.00,2.17,0.00,0.000,6,0.000,0.023,2600,2002,3394,0,0,0,0,0,0
$GC,10151,-0.56,-146.0,924.8,-7.4,735,10155,0.00,2.20,0.00,0.000,4,0.000,0.030,2600,516,3393,0,0,0,0,0,0
$GC,10192,-0.56,-146.0,927.9,-7.2,737,10196,0.00,2.12,0.00,0.000,6,0.000,0.023,2600,1969,3393,0,0,0,0,0,0
$GC,10521,-0.56,-146.0,949.5,-6.3,753,10525,0.00,1.95,0.00,0.000,4,0.000,0.039,2600,3273,3392,0,0,0,0,0,0
$GC,10628,-0.56,-146.0,956.2,-6.2,757,10635,0.00,1.80,0.00,0.000,6,0.000,0.021,2600,1996,3392,0,0,0,0,0,0
$GC,10945,-0.56,-146.0,973.4,-5.4,773,10950,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,517,3392,0,0,0,0,0,0
$GC,10983,-0.56,-146.0,975.9,-5.5,774,10992,0.00,2.17,0.00,0.000,6,0.000,0.024,2600,1984,3391,0,0,0,0,0,0
$STATE,11255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11256,begin apogee
$GC,11263,-0.20,0.0,990.8,5.6,788,11380,0.38,0.00,111.43,1.412,4,0.124,0.000,2728,2068,2839,0,0,0,0,0,0
$STATE,11381,end apogee,CONTROL_FINISHED_OK
$STATE,11381,begin climb
$GC,11386,0.56,146.0,992.7,0.0,793,11516,0.70,0.00,124.22,1.363,6,0.079,0.000,2976,2068,2243,0,0,0,0,0,0
$GC,11824,0.56,146.0,947.5,11.6,814,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2068,2232,0,0,0,0,0,0
$GC,12135,0.56,146.0,913.4,10.9,829,12136,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2068,2228,0,0,0,0,0,0
$GC,12443,0.56,146.0,879.4,11.0,844,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2068,2228,0,0,0,0,0,0
$GC,12754,0.56,146.0,845.6,10.8,859,12759,0.00,2.15,0.00,0.000,4,0.000,0.038,2977,3468,2227,0,0,0,0,0,0
$GC,12787,0.56,146.0,841.3,11.7,860,12791,0.00,2.05,0.00,0.000,6,0.000,0.022,2985,2069,2227,0,0,0,0,0,0
$GC,13109,0.56,146.0,804.2,11.6,876,13113,0.00,2.05,0.00,0.000,4,0.000,0.033,2995,692,2226,0,0,0,0,0,0
$GC,13165,0.56,146.0,797.3,11.8,878,13169,0.00,2.00,0.00,0.000,6,0.000,0.023,2995,2044,2226,0,0,0,0,0,0
$GC,13487,0.56,146.0,757.9,12.2,894,13492,0.00,2.17,0.00,0.000,4,0.000,0.038,2995,3465,2226,0,0,0,0,0,0
$GC,13547,0.56,146.0,749.9,13.3,896,13555,0.00,2.10,0.00,0.000,6,0.000,0.022,3004,2025,2225,0,0,0,0,0,0
$GC,13865,0.56,146.0,713.2,11.6,912,13869,0.00,1.95,0.00,0.000,4,0.000,0.034,3014,691,2225,0,0,0,0,0,0
$GC,13982,0.56,146.0,699.4,11.3,917,13986,0.08,1.90,0.00,0.000,6,0.142,0.023,2975,1986,2225,0,0,0,0,0,0
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$STATE,21658,end climb,SURFACE_DEPTH_REACHED
$STATE,21658,begin surface coast
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$STATE,21686,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,21.377
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$FG_AHR_10Vo,0.000
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